I followed the [guide](https://turtlebot3.readthedocs.io/en/latest/simulation.html) to tried the Turtlebot3 navigation with Gazebo simulation, and everything worked fine.
However, when I added the following argument in `turtlebot3_navigation/launch/turtlebot3_navigation.launch`, some parts seems to be broken.
``
The command
`roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml` get the following info:
... logging to /home/shaohua/.ros/log/ffe180e2-c6a1-11e7-9b70-6045cb61bc51/roslaunch-hua-14980.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
started roslaunch server http://hua:34059/
SUMMARY
========
PARAMETERS
## parameters arugment ##
NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[robot_state_publisher-1]: started with pid [15001]
process[map_server-2]: started with pid [15002]
process[amcl-3]: started with pid [15003]
process[move_base-4]: started with pid [15005]
==15005== Callgrind, a call-graph generating cache profiler
==15005== Copyright (C) 2002-2015, and GNU GPL'd, by Josef Weidendorfer et al.
==15005== Using Valgrind-3.11.0 and LibVEX; rerun with -h for copyright info
==15005== Command: /home/shaohua/Develope/catkin_ws/devel/lib/move_base/move_base cmd_vel:=/cmd_vel odom:=odom __name:=move_base __log:=/home/shaohua/.ros/log/ffe180e2-c6a1-11e7-9b70-6045cb61bc51/move_base-4.log
==15005==
==15005== For interactive control, run 'callgrind_control -h'.
[ INFO] [1510379496.601127874, 1017.916000000]: Using plugin "static_layer"
[ INFO] [1510379496.943013903, 1018.037000000]: Requesting the map...
[ INFO] [1510379497.199085295, 1018.493000000]: Resizing costmap to 384 X 384 at 0.050000 m/pix
[ INFO] [1510379497.342351029, 1018.626000000]: Received a 384 X 384 map at 0.050000 m/pix
[ INFO] [1510379497.547787110, 1018.655000000]: Using plugin "obstacle_layer"
[ INFO] [1510379497.587373696, 1018.692000000]: Subscribed to Topics: scan
[ INFO] [1510379498.021323315, 1019.072000000]: Using plugin "inflation_layer"
[ INFO] [1510379499.228755178, 1019.876000000]: Using plugin "obstacle_layer"
[ INFO] [1510379499.313085974, 1020.098000000]: Subscribed to Topics: scan
[ INFO] [1510379499.453659479, 1020.297000000]: Using plugin "inflation_layer"
[ WARN] [1510379499.679555905, 1020.607000000]: Costmap2DROS transform timeout. Current time: 1020.6070, global_pose stamp: 1018.4840, tolerance: 2.0000
[ INFO] [1510379499.970960188, 1020.948000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1510379500.056267738, 1020.979000000]: Sim period is set to 0.33
[ WARN] [1510379500.759995019, 1021.865000000]: Costmap2DROS transform timeout. Current time: 1021.8650, global_pose stamp: 1018.4840, tolerance: 2.0000
[ INFO] [1510379501.890491261, 1022.881000000]: Recovery behavior will clear layer obstacles
[ INFO] [1510379502.025401841, 1023.151000000]: Recovery behavior will clear layer obstacles
And the following is information from `roswtf`:
Loaded plugin tf.tfwtf
Package: turtlebot3_navigation
================================================================================
Static checks summary:
No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete
Online checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /amcl:
* /initialpose
* /move_base:
* /move_base_simple/goal
* /move_base/cancel
* /gazebo:
* /gazebo/set_model_state
* /gazebo/set_link_state
WARNING These nodes have died:
* spawn_urdf-5
Found 2 error(s).
ERROR The following nodes should be connected but aren't:
* /move_base->/move_base (/move_base/global_costmap/footprint)
* /move_base->/move_base (/move_base/local_costmap/footprint)
ERROR Errors connecting to the following services:
* service [/move_base/DWAPlannerROS/set_parameters] appears to be malfunctioning: Unable to communicate with service [/move_base/DWAPlannerROS/set_parameters], address [rosrpc://hua:54601]
* service [/move_base/global_costmap/static_layer/set_parameters] appears to be malfunctioning: Unable to communicate with service [/move_base/global_costmap/static_layer/set_parameters], address [rosrpc://hua:54601]
* service [/move_base/local_costmap/inflation_layer/set_parameters] appears to be malfunctioning: Unable to communicate with service [/move_base/local_costmap/inflation_layer/set_parameters], address [rosrpc://hua:54601]
* service [/move_base/get_loggers] appears to be malfunctioning: Unable to communicate with service [/move_base/get_loggers], address [rosrpc://hua:54601]
* service [/move_base/NavfnROS/make_plan] appears to be malfunctioning: Unable to communicate with service [/move_base/NavfnROS/make_plan], address [rosrpc://hua:54601]
* service [/move_base/local_costmap/obstacle_layer/set_parameters] appears to be malfunctioning: Unable to communicate with service [/move_base/local_costmap/obstacle_layer/set_parameters], address [rosrpc://hua:54601]
* service [/move_base/local_costmap/set_parameters] appears to be malfunctioning: Unable to communicate with service [/move_base/local_costmap/set_parameters], address [rosrpc://hua:54601]
* service [/move_base/set_logger_level] appears to be malfunctioning: Unable to communicate with service [/move_base/set_logger_level], address [rosrpc://hua:54601]
* service [/move_base/global_costmap/obstacle_layer/set_parameters] appears to be malfunctioning: Unable to communicate with service [/move_base/global_costmap/obstacle_layer/set_parameters], address [rosrpc://hua:54601]
* service [/move_base/global_costmap/inflation_layer/set_parameters] appears to be malfunctioning: Unable to communicate with service [/move_base/global_costmap/inflation_layer/set_parameters], address [rosrpc://hua:54601]
* service [/move_base/clear_costmaps] appears to be malfunctioning: Unable to communicate with service [/move_base/clear_costmaps], address [rosrpc://hua:54601]
* service [/move_base/global_costmap/set_parameters] appears to be malfunctioning: Unable to communicate with service [/move_base/global_costmap/set_parameters], address [rosrpc://hua:54601]
* service [/move_base/make_plan] appears to be malfunctioning: Unable to communicate with service [/move_base/make_plan], address [rosrpc://hua:54601]
* service [/move_base/set_parameters] appears to be malfunctioning: Unable to communicate with service [/move_base/set_parameters], address [rosrpc://hua:54601]
It seems the navigation stack lost some service connection when work with Valgrind.
Can anyone help?
Thanks in advenced for any reply!
-ShaoHua
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